hyundai: torque lateral controller for palisade (#25262)

old-commit-hash: d01847e414
3 years ago · a82c528c8e
parent 3ccab8345c
commit a82c528c8e
1 changed files with 1 additions and 2 deletions
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@ -78,8 +78,7 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.90
      ret.steerRatio = 15.6 * 1.15
      tire_stiffness_factor = 0.63
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
    elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
      ret.lateralTuning.pid.kf = 0.00006
      ret.mass = 1275. + STD_CARGO_KG